Biorobotics
/
Controllerfunction
movemotor function. still to finish input variables and how to pass PWM and Direction pin and QEI
movemotor.cpp
- Committer:
- roosbulthuis
- Date:
- 2015-10-19
- Revision:
- 0:7098cdb29180
File content as of revision 0:7098cdb29180:
#include "QEI.h" #include "mbed.h" // Defining pulses per revolution (calculating pulses to rotations in degree.) const double pulses_per_revolution = 4200 ;//8400 counts is aangegeven op de motor for x4. 10 - 30 counts oveshoot. for moter 1(tape)! Motor 2 almost the same(nice) const double M1_timestep = 0.01; // reason ticker works with 100 Hz. ASSUMING TIME STEP IS THE SAME FOR BOTH MOTORS // define rotation direction and begin possition const int cw = 1; const int ccw = 0; // define ticker Ticker aansturen; QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in) // ask victor whether it can be in if-loop for the two different motors // defining flags volatile bool flag_motor = false; // making function flags. void Go_flag_motor() { flag_motor = true; } // defining reusable P controller double PI(double error, const double Kp, const double Ki, double Ts, double &e_int) { e_int = e_int + Ts * error; double PI_output = (Kp * error) + (Ki * e_int); return PI_output; } // Measure the error and apply the output to the plant void motor1_Controller(DigitalOut directionPin(), PwmOut PWM(), double position, double Setpoint, double Kp, double Ki) //How to pass Digitalout and PWM, by reference? { double reference = setpoint; // setpoint is in pulses double position = wheel.getPulses(); double error_pulses = (reference - position); // calculate the error in pulses double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn double output = abs(PI( error_rotation, motor1_Kp, motor1_Ki, M1_timestep, motor1_error_integraal )); if(error_pulses > 0) { directionPin.write(cw); } else if(error_pulses < 0) { directionPin.write(ccw); } else{ output = 0; } PWM.write(output); // out of the if loop due to abs output } void move_motor(std::string state) //state can be left, right, or keypress { if (state == "left") { DigitalOut directionPin(D4); //direction PwmOut PWM(D5); //speed double position = wheel.getPulses(); //actual position double Setpoint; //desired position Kp; //controller gain Ki; //set to zero } else if (state == "right") { DigitalOut directionPin(D4); PwmOut PWM(D5); double position = wheel.getPulses(); //actual position double Setpoint; //desired position double Kp; //controller gain, same as for left double Ki; //set to zero } else if (state == "keypress") //different encoder than left and right { DigitalOut directionPin(D6); //direction PwmOut PWM(D7); //speed double position = wheel.getPulses(); //actual position, but different motor! double Setpoint; //desired position, always the same actually Kp; //controller gain, different from left and right Ki; //set to zero } //call the flags and p-controller aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning // attaching the flag to the ticker while (1) //error is not between -0.05 and 0.05 or something error should be a maximum of 3 mm { // to make the motor move if(flag_motor) { flag_motor = false; motor1_Controller(directionPin, PWM, position, Setpoint, Kp, Ki); //How to pass Digitalout and PWM, by reference? } } }